EP2724179B1 - Optimierung eines ortungssystems mit terrestrischen sendebasisstationen - Google Patents

Optimierung eines ortungssystems mit terrestrischen sendebasisstationen Download PDF

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Publication number
EP2724179B1
EP2724179B1 EP12738532.6A EP12738532A EP2724179B1 EP 2724179 B1 EP2724179 B1 EP 2724179B1 EP 12738532 A EP12738532 A EP 12738532A EP 2724179 B1 EP2724179 B1 EP 2724179B1
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Prior art keywords
land
base stations
base station
code
receiver
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Not-in-force
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EP12738532.6A
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English (en)
French (fr)
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EP2724179A1 (de
Inventor
Marc Boyer
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Centre National dEtudes Spatiales CNES
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Centre National dEtudes Spatiales CNES
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present invention relates to the optimization of a signal location system of the CDMA type, in particular of the satellite type, comprising a plurality of terrestrial base stations, called pseudolite base stations, able to be installed in a predetermined environment.
  • Such a system has been developed by the applicant company, in particular to cover indoor spaces (shopping centers, airports, lounges, parking ...) for which it is not always possible to capture the navigation signals from satellites.
  • the principle consists in installing ground base stations in the space to be covered, these base stations being called pseudolites (for "pseudo-satellites") because they reproduce the navigation signals traditionally transmitted by the satellites of the navigation systems.
  • Any conventional GPS receiver such as those fitted to smartphones, can then display its position on the receiver screen on an interactive map downloaded with an application.
  • the SPS signals for civil use are signals encoded by a code called C / A (English initials set for Coarse / Acquisition) and broadcast on a carrier frequency L1 (1575.42 MHz).
  • the C / A code consists of a 1023-bit pseudo-random sequence with a 1.023MHz clock. It is repeated every millisecond.
  • the C / A code can itself be modulated by a navigation message of 50 bits / s, including in particular the time of transmission of the signal, the corrective terms and the data of position of the satellites. Its small size allows the GPS receiver to quickly capture satellite information.
  • Each base station has its own pseudo-random code known as the Anglo-Saxon "Gold Code". This code has been studied to minimize the probability of confusing two different signals transmitted by different base stations on the same frequency and to allow the measurement of a propagation time.
  • a pseudolite base station transmitter essentially comprises a local oscillator 1 for generating a frequency of 10 MHz, from which it will be possible to derive the different frequencies useful for generation, by the corresponding generators 2, 3 and 4, of the signal at the carrier frequency L1, the C / A code, and the navigation message.
  • the modulation of the C / A code by the navigation message is represented here by logic means 5 performing an "exclusive OR" function of the C / A code and the navigation message.
  • a BPSK modulator 6 consisting in increasing the phase by 180 ° at each parity change of the C / A code, is used to obtain the final signal transmitted by the base station.
  • the figure 2 schematically represents a conventional multichannel receiver:
  • the signal received on a radiofrequency antenna 7 results from the combination of all the signals transmitted from the surrounding pseudotite base stations.
  • the received signal is first amplified by an amplifier 8 so as to reduce the thermal noise of the receiver.
  • the frequency of the amplified signals is then lowered to a so-called intermediate frequency by means of a frequency divider 9 receiving a predefined frequency signal from a local oscillator 10 and a frequency synthesizer 11.
  • the signal at intermediate frequency is then digitized, preferably in phase and in quadrature, by an analog-digital converter 12.
  • An automatic gain control is applied at this level by a module 13.
  • the various digitized signals are ready to be processed by each of the N channels 14 of the receiver for the acquisition of signals and the tracking of codes and carriers. From at least four acquired signals, a module 15 will be able to extract positioning information by triangulation.
  • a user interface module 16 allows the user to view his position on a map displayed on a screen.
  • the figure 3 schematically illustrates the processing carried out on each reception channel of the multichannel receiver of the figure 2 .
  • the processing performed has been represented in the form of an analog processing. Nevertheless, this processing is actually performed on the one hand, on the signals sampled in phase, and on the other hand on the sampled signals in quadrature delivered by the analog-digital converter 12 of the figure 2 .
  • the acquisition and tracking of a GPS signal is accomplished through two processes of replication and correlation of carriers and codes.
  • the signal S (t) received is first correlated in phase.
  • the carrier of the received signal S (t) is suppressed by means of a mixer 14-1 receiving on the one hand, the signal S (t), and on the other hand, a predetermined carrier signal coming from an oscillator 14-2.
  • the signal at the output of the mixer 14-1 is then correlated by three correlators 14-3, 14-4, 14-5 to three local replicas of the C / A code corresponding to the reception channel, generated by a code generator 14-6. , and respectively corresponding to a delayed replica of a predetermined delay, to a replica in phase, and to an advanced replica of the same predetermined delay.
  • Integrators 14-7 integrate the outputs of each correlator 14-3, 14-4, 14-5 and provide the results of the integrations to a discriminator 14-8. Successive offsets on the code replica are performed until a maximum correlation is obtained between the replica and the received code.
  • the reception channel is then able, from the shift made, to estimate the duration of propagation of the signal between the transmitting base station and the receiver, and consequently the pseudo distance separating the receiver from this base station.
  • a phase tracking loop 14-9 is used to track the carrier frequency, and a code tracking loop having a loop filter 14-10 and a code generator timing module 14-11 is used to follow the C / A codes.
  • a mobile receiver may find itself close to a base station A and away from a base station B.
  • the signal transmitted by the base station B will have to travel a greater distance than the signal transmitted by the base station A to reach the receiver. This results in a significant difference in power between the signals received by the receiver.
  • This problem well known as the near-field / far-field effect, can alter the signal processing on reception, particularly at the channel receiving the weakest signal (here the signal received from the receiver). base station B).
  • the difference in power can be very close to or even greater than this intercorrelation margin.
  • the acquisition of the signal on the receiving channel corresponding to the weakest signal may fail, or lead to a false lock (detection of a cross correlation peak instead of an autocorrelation peak).
  • the estimation of the position of the receiver can then be momentarily impossible if the receiver does not simultaneously have enough acquired signals, or erroneous in the case of a false lock.
  • the near-field / far-field effect is also known in satellite navigation systems (GPS or other GNSS system). In this case, however, it does not result from the difference in propagation time between the signals emitted by two satellites, but rather from the presence of obstacles (walls, ceilings, trees, etc.) that can greatly attenuate the signal received. of one of the satellites compared to those received from other satellites.
  • GPS satellite navigation systems
  • obstacles walls, ceilings, trees, etc.
  • the object of the present invention is to overcome the disadvantages of the prior art by proposing a near-field / far-field solution which deals with the problem as soon as the signals are transmitted, so that any basic multichannel receiver, such as the one schematically represented figures 2 and 3 , can be used.
  • the invention also relates to a location system comprising a number N greater than or equal to 2 of terrestrial transmitting base stations installed at predetermined positions so as to cover a terrestrial area of known boundaries to allow a mobile multichannel receiver in said zone to extract its position from CDMA signals it receives from a plurality of said terrestrial base stations, each transmitting base station comprising a signal generator capable of delivering a signal at a predefined carrier frequency encoded by a CDMA code specific to each base station, characterized in that each signal generator further comprises means capable of applying to the corresponding CDMA code an intentional time offset estimated in accordance with the method.
  • the present invention takes advantage of the fact that each location support system using terrestrial base stations or pseudolites for transmitting CDMA type signals is intended to cover a terrestrial area whose boundaries or boundaries are well known, and whose the extent is restricted (of the order of a few tens of meters in a building, or a few hundred meters in a zone type commercial or airport). Consequently, for this type of system, the maximum difference between the propagation delays for two signals transmitted by two pseudolite base stations of the system is generally much smaller than the duration of the codes transmitted by these stations.
  • each C / A code is composed of 1023 strands ("chips" in English terminology). ), with an internal clock of 1.023 MHz.
  • Each C / A code has a duration of 1 millisecond. To reach such an order of magnitude over a difference in propagation time between two pseudolite base stations, these base stations would have to be 300 kilometers apart, which is never the case in reality.
  • the C / A codes used by the terrestrial base stations are "gold codes" whose length is 1 millisecond (for 1023 strands), and for which the intercorrelation function between two CDMA codes varies according to the phase delay or time lag between these two codes.
  • This is illustrated by the Figures 4a and 4b which represent the intercorrelation obtained between two codes as a function of a temporal shift (in unit of strands) between the two codes, varying over a range corresponding to the entire duration of a code ( figure 4a ) or only part of this range ( figure 4b ). It is noted in these figures that it is possible to obtain very low values of intercorrelation (of the order of -60 dB).
  • the principle according to the present invention is to seek the intentional time shift ⁇ ij that should be applied between the two codes transmitted by the base stations i and j to obtain, on each of the reception channels i and j the coefficients of autocorrelation and intercorrelation as shown in the figure 5 .
  • the offset must be such that the peaks corresponding to the intercorrelation are remote from the peak corresponding to the autocorrelation.
  • a possible synchronous architecture of a localization system comprising four antennas 16 (A1 to A4) for transmitting GPS signals, each antenna being connected to an associated signal generator 17 via a cable RF 18, the whole being controlled in synchronism by a controller of the system 19.
  • the four antennas constitute here the elements of the pseudolite terrestrial base stations covering an area of limited extent and whose positions are known.
  • the figure 8 illustrates schematically the structure of each signal generator 17. This figure shows the various elements already described with reference to the figure 1 . Unlike the figure 1 each generator further comprises means 20 for applying, if necessary, the time shift ⁇ ij calculated according to the method described above. This ensures that any conventional multi-channel receiver R evolving within the area covered by the system can easily discriminate the signals it is likely to receive simultaneously from the four antennas, and deduce accordingly the four pseudo-distances needed to derive his position.
  • the problem of the near-field / far-field effect is solved at the lowest cost from the outset, with few software or hardware resources at the time of transmission.
  • it is not necessary to oversize the system by increasing the number of terrestrial base stations.
  • it is necessary to attempt to obtain complex antenna diagrams on transmission.
  • the total cost of a pseudolite system is thus optimized.
  • no particular processing is required at the reception, contrary to known PIC and SIC techniques.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Claims (6)

  1. Verfahren zur Optimierung eines Ortungssystem, umfassend eine Anzahl N größer oder gleich 2 von terrestrischen Basissendestationen die ausgelegt sind, um an vorbestimmten Stellen installiert zu werden, um einen terrestrischen Bereich mit bekannten Grenzen abzudecken, um jedem mobilen Mehrkanal-CDMA-Empfänger in dem Bereich zu ermöglichen, seine Position auf der Grundlage von CDMA-Signalen zu extrahieren, die er von einer Vielzahl der terrestrischen Basisstationen erhält, dadurch gekennzeichnet, dass es die folgenden Schritte umfasst:
    - Suchen (110 bis 140), für jedes Paar von terrestrischen Basisstationen i und j von entsprechenden vorbestimmten Positionen xi und xj, eines Zeitbereichs mit begrenzter Variation, auf dem die Kreuzkorrelationskoeffizienten auf dem Empfangskanal i und j und auf dem Empfangskanal j des Empfängers minimal sein müssen, ausgehend von Schätzungen der minimalen und maximalen Differenzen zwischen den Laufzeiten der Signal, die von den terrestrischen Basisstationen i und j für die Gesamtheit der möglichen Positionen des Empfängers gesendet werden;
    - Schätzen (150) eines beabsichtigten Zeitversetzungswerts ö ij , der auf die Sendung zwischen einem ersten Code der von der Basisstation i gesendet wird, und einem zweiten Code, der von der Basisstation j gesendet wird, für den die Interkorrelation zwischen dem ersten Code und dem zweiten Code für alle Verzögerungen minimal ist, die im begrenzten Variationsbereich enthalten sind.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass für den Fall, dass das Ortungssystem umfasst eine Anzahl N größer als 2 von terrestrischen Basissendestationen umfasst, die beabsichtigten Zeitverschiebungen zwischen drei terrestrischen Basisstationen i, j und k außerdem gewählt sind, um die folgende Beziehung zu erfüllen: δ ij = δ ik + δ kj
    Figure imgb0031
    wobei
    δ ij die beabsichtigte Zeitversetzung ist, die zwischen der terrestrischen Basisstation i und der terrestrischen Basisstation j angewendet werden muss;
    δ ik die beabsichtigte Zeitversetzung ist, die zwischen der terrestrischen Basisstation i und der terrestrischen Basisstation k angewendet werden muss;
    δ kj die beabsichtigte Zeitversetzung ist, die zwischen der terrestrischen Basisstation k und der terrestrischen Basisstation j angewendet werden muss.
  3. Ortungssystem, umfassend eine Anzahl N größer oder gleich 2 von terrestrischen Basissendestationen (16, 17, 18), die an vorbestimmten Stellen installiert sind, um einen terrestrischen Bereich mit bekannten Grenzen abzudecken, um einem mobilen Mehrkanal-CDMA-Empfänger (R) in dem Bereich zu ermöglichen, seine Position auf der Grundlage von CDMA-Signalen zu extrahieren, die er von einer Vielzahl der terrestrischen Basisstationen erhält, wobei jede Sendebasisstation einen Signalgenerator (17) umfasst, der ausgelegt ist, um ein Signal mit einer vordefinierten Trägerfrequenz zu liefern, das von einem CDMA-Code codiert ist, der jeder Basisstation eigen ist, dadurch gekennzeichnet, dass jeder Signalgenerator (17) außerdem Mittel (20) umfasst, die ausgelegt sind, um auf den entsprechenden CDMA-Code eine geschätzte beabsichtigte Zeitversetzung gemäß dem Prozess nach Anspruch 1 und 2 durchzuführen.
  4. Ortungssystem nach Anspruch 3, dadurch gekennzeichnet, dass der CDMA-Code, der jeder Basisstation eigen ist, ein Code vom Typ GPS ist.
  5. Ortungssystem nach einem der Ansprüche 3 und 4, dadurch gekennzeichnet, dass die Signalgeneratoren der Gesamtheit der terrestrischen Basisstationen synchron sind.
  6. Ortungssystem nach einem der Ansprüche 3 bis 5, dadurch gekennzeichnet, dass die Signalgeneratoren der Gesamtheit der terrestrischen Basisstationen zentralisiert sind.
EP12738532.6A 2011-06-27 2012-06-27 Optimierung eines ortungssystems mit terrestrischen sendebasisstationen Not-in-force EP2724179B1 (de)

Applications Claiming Priority (2)

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FR1155702A FR2977037B1 (fr) 2011-06-27 2011-06-27 Optimisation d'un systeme de localisation comprenant des stations de base emettrices terrestres
PCT/FR2012/051472 WO2013001231A1 (fr) 2011-06-27 2012-06-27 Optimisation d'un systeme de localisation comprenant des stations de base emettrices terrestres

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EP2724179A1 EP2724179A1 (de) 2014-04-30
EP2724179B1 true EP2724179B1 (de) 2015-09-09

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Publication number Priority date Publication date Assignee Title
US5363403A (en) 1993-04-22 1994-11-08 Interdigital Technology Corporation Spread spectrum CDMA subtractive interference canceler and method

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WO2013001231A1 (fr) 2013-01-03
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FR2977037A1 (fr) 2012-12-28

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